Omni-directional person tracking on a flying robot using occlusion-robust ultra-wideband signals

Hepp, Benjamin; Nägeli, Tobias; Hilliges, Otmar

doi:10.1109/iros.2016.7759054

Cited by 40 publications

(39 citation statements)

References 11 publications

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“…The authors in [1], [3] employed EKF to estimate the relative position between two robots by assuming that the velocity of robot R 1 is unknown but either constant or slightly varying. Likewise, here we assume that robot R 0 does not have access to the instant velocity of robot R 1 .…”

Section: B the Proposal Distributionmentioning

confidence: 99%

See 1 more Smart Citation

Infrastructure-free Multi-robot Localization with Ultrawideband Sensors

Güler¹,

Abdelkader²,

Shamma³

2019

2019 American Control Conference (ACC)

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Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable and versatile operation in a swarm, robots must sense each other and interact locally. Motivated by this requirement, here we propose an on-board localization framework for multirobot systems. Our framework consists of an anchor robot with three ultrawideband (UWB) sensors and a tag robot with a single UWB sensor. The anchor robot utilizes the three UWB sensors as a localization infrastructure and estimates the tag robot's location by using its on-board sensing and computational capabilities solely, without explicit inter-robot communication. We utilize a dual Monte-Carlo localization approach to capture the agile maneuvers of the tag robot with an acceptable precision. We validate the effectiveness of our algorithm with simulations and indoor and outdoor experiments on a two-drone setup. The proposed dual MCL algorithm yields highly accurate estimates for various speed profiles of the tag robot and demonstrates a superior performance over the standard particle filter and the extended Kalman Filter.

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Section: B the Proposal Distributionmentioning

confidence: 99%

“…Recently, several works have combined the good sides of the two approaches for multi-robot systems under the framework of on-board anchor configuration ( Fig. 1-b) [1]- [3]. In this framework, a robot is equipped with a set of anchors onboard, with the inter-anchor distances limited by the physical characteristics of the robot.…”

Section: Introductionmentioning

confidence: 99%

Infrastructure-free Multi-robot Localization with Ultrawideband Sensors

Güler¹,

Abdelkader²,

Shamma³

2019

2019 American Control Conference (ACC)

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show abstract

“…Our main contribution is a complete relative localization system integrating UWB ranging measurements with other standard MAV sensors such as IMU, altimeters and a computationally efficient optical flow so-called correlation flow. Unlike the works in [15], [16], our system provides relative position estimates that are sufficiently accurate and stable for feedbackcontrolled flight and are independent of external systems for localization such as GPS or camera-based motion tracking. Additionally, we exploit the UWB communication capability to share information between robots.…”

Section: Introductionmentioning

confidence: 99%

Robust Target-Relative Localization with Ultra-Wideband Ranging and Communication

Nguyen

Zaini

Wang

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing between the quadcopter and target. To achieve robust localization for autonomous flight even with uncertainty in the speed of the target, two main features are developed. First, an estimator based on Extended Kalman Filter (EKF) is developed to fuse UWB ranging measurements with data from onboard sensors including inertial measurement unit (IMU), altimeters and optical flow. Second, to properly handle the coupling of the target's orientation with the range measurements, UWB based communication capability is utilized to transfer the target's orientation to the quadcopter. Experiment results demonstrate the ability of the quadcopter to control its position relative to the target autonomously in both cases when the target is static and moving.

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“…Based on extended Kalman filter (EKF), a robot self-localization system is reported in [11] using one-way communication with fixed-position UWB modules. A tracking system proposed in [12] only requires instrumentation of the target with a single UWB transceiver. ranging measurement: The architecture of the proposed system which consists of three parallel threads.…”

Section: Introductionmentioning

confidence: 99%

Ultra-wideband aided fast localization and mapping system

Wang

Zhang

Nguyen

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still faces challenges with accumulated errors in the long run or under unfavourable environments, the UWB ranging measurements are fused to remove the visual drift and improve the robustness. A general framework is developed which consists of three parallel threads, two of which carry out the visualinertial odometry (VIO) and UWB localization respectively. The other mapping thread integrates visual tracking constraints into a pose graph with the proposed smooth and virtual range constraints, such that an optimization is performed to provide robust trajectory estimation. Experiments show that the proposed system is able to create dense drift-free maps in real-time even running on an ultra-low power processor in featureless environments.The authors are with the School of Electrical and Electronic Engineering, Nanyang Technological University,

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Omni-directional person tracking on a flying robot using occlusion-robust ultra-wideband signals

Cited by 40 publications

References 11 publications

Infrastructure-free Multi-robot Localization with Ultrawideband Sensors

Infrastructure-free Multi-robot Localization with Ultrawideband Sensors

Robust Target-Relative Localization with Ultra-Wideband Ranging and Communication

Ultra-wideband aided fast localization and mapping system

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